eband_local_planner_ros.h

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#ifndef EBAND_LOCAL_PLANNER_ROS_H_
#define EBAND_LOCAL_PLANNER_ROS_H_

#include <ros/ros.h>

// abstract class from which our plugin inherits
#include <nav_core/base_local_planner.h>

// classes wich are parts of this pkg
#include <eband_local_planner/eband_local_planner.h>
#include <eband_local_planner/conversions_and_types.h>
#include <eband_local_planner/eband_visualization.h>
#include <eband_local_planner/eband_trajectory_controller.h>

// local planner specific classes which provide some macros
#include <base_local_planner/goal_functions.h>

// msgs
#include <nav_msgs/Path.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/PoseStamped.h>
#include <visualization_msgs/MarkerArray.h>
#include <visualization_msgs/Marker.h>

// transforms
#include <angles/angles.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>

// costmap & geometry
#include <costmap_2d/costmap_2d_ros.h>

// boost classes
#include <boost/bind.hpp>
#include <boost/shared_ptr.hpp>


namespace eband_local_planner{

  class EBandPlannerROS : public nav_core::BaseLocalPlanner{

    public:
      EBandPlannerROS();

      EBandPlannerROS(std::string name, tf::TransformListener* tf,
          costmap_2d::Costmap2DROS* costmap_ros);

      ~EBandPlannerROS();

      void initialize(std::string name, tf::TransformListener* tf,
          costmap_2d::Costmap2DROS* costmap_ros);

      bool setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan);

      bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel);

      bool isGoalReached();

    private:

      // pointer to external objects (do NOT delete object)
      costmap_2d::Costmap2DROS* costmap_ros_; 
      tf::TransformListener* tf_; 

      // parameters
      double yaw_goal_tolerance_, xy_goal_tolerance_; 
      double rot_stopped_vel_, trans_stopped_vel_; 

      // Topics & Services
      ros::Publisher g_plan_pub_; 
      ros::Publisher l_plan_pub_; 
      ros::Subscriber odom_sub_; 

      // data
      nav_msgs::Odometry base_odom_;
      std::vector<geometry_msgs::PoseStamped> global_plan_; // plan as handed over from move_base or global planner
      std::vector<geometry_msgs::PoseStamped> transformed_plan_; // plan transformed into the map frame we are working in
      std::vector<int> plan_start_end_counter_; // stores which number start and end frame of the transformed plan have inside the global plan

      // pointer to locally created objects (delete - except for smart-ptrs:)
      boost::shared_ptr<EBandPlanner> eband_;
      boost::shared_ptr<EBandVisualization> eband_visual_;
      boost::shared_ptr<EBandTrajectoryCtrl> eband_trj_ctrl_;

      bool goal_reached_;

      // flags
      bool initialized_;
      boost::mutex odom_mutex_; // mutex to lock odometry-callback while data is read from topic


      // methods

      void odomCallback(const nav_msgs::Odometry::ConstPtr& msg);

  };
};
#endif